{"id":"https://openalex.org/W7124878733","doi":"https://doi.org/10.1109/lra.2026.3655279","title":"Learning Rotation-Aware Binary Descriptors for Visual Localization","display_name":"Learning Rotation-Aware Binary Descriptors for Visual Localization","publication_year":2026,"publication_date":"2026-01-19","ids":{"openalex":"https://openalex.org/W7124878733","doi":"https://doi.org/10.1109/lra.2026.3655279"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3655279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3655279","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/A5087003462","display_name":"Haodi Yao","orcid":null},"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":true,"raw_author_name":"Haodi Yao","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0001-2417-1969","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100635370","display_name":"Fenghua He","orcid":"https://orcid.org/0000-0001-7923-3277"},"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":"Fenghua He","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7923-3277","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114998860","display_name":"Ning Hao","orcid":"https://orcid.org/0000-0002-7472-754X"},"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":"Ning Hao","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7472-754X","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5087003462"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10267593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"3","first_page":"3119","last_page":"3126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7760999798774719,"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":0.7760999798774719,"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":0.15060000121593475,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.018200000748038292,"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/robustness","display_name":"Robustness (evolution)","score":0.6743999719619751},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.5667999982833862},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.49939998984336853},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.47510001063346863},{"id":"https://openalex.org/keywords/optimal-distinctiveness-theory","display_name":"Optimal distinctiveness theory","score":0.4562999904155731},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4325000047683716},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4138999879360199},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.41370001435279846},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.40720000863075256}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7656999826431274},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6743999719619751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6478999853134155},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.5667999982833862},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.49939998984336853},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.499099999666214},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.47510001063346863},{"id":"https://openalex.org/C47385372","wikidata":"https://www.wikidata.org/wiki/Q7098943","display_name":"Optimal distinctiveness theory","level":2,"score":0.4562999904155731},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4325000047683716},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4138999879360199},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.41370001435279846},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.40720000863075256},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3716999888420105},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.3700999915599823},{"id":"https://openalex.org/C66905080","wikidata":"https://www.wikidata.org/wiki/Q17005494","display_name":"Binary classification","level":3,"score":0.3653999865055084},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.32710000872612},{"id":"https://openalex.org/C87335442","wikidata":"https://www.wikidata.org/wiki/Q2494345","display_name":"Local binary patterns","level":4,"score":0.31709998846054077},{"id":"https://openalex.org/C66024118","wikidata":"https://www.wikidata.org/wiki/Q1122506","display_name":"Computational model","level":2,"score":0.3043999969959259},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2987000048160553},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.27880001068115234},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2736000120639801},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2685999870300293},{"id":"https://openalex.org/C2779190172","wikidata":"https://www.wikidata.org/wiki/Q4913888","display_name":"Binary data","level":3,"score":0.26350000500679016},{"id":"https://openalex.org/C46686674","wikidata":"https://www.wikidata.org/wiki/Q466303","display_name":"Boosting (machine learning)","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C2986492983","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image matching","level":3,"score":0.25459998846054077},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.25279998779296875},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3655279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3655279","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2048710758","https://openalex.org/W2117228865","https://openalex.org/W2141584146","https://openalex.org/W2151103935","https://openalex.org/W2594519801","https://openalex.org/W2757468587","https://openalex.org/W2963154697","https://openalex.org/W2963748588","https://openalex.org/W2963760790","https://openalex.org/W3016959483","https://openalex.org/W3043971245","https://openalex.org/W3150886226","https://openalex.org/W3195709089","https://openalex.org/W4211040010","https://openalex.org/W4367359398","https://openalex.org/W4386083013","https://openalex.org/W4393863196","https://openalex.org/W4402727615","https://openalex.org/W4412610836"],"related_works":[],"abstract_inverted_index":{"Visual":[0],"localization":[1,133],"is":[2,91],"crucial":[3],"for":[4,44,130],"autonomous":[5],"unmanned":[6],"aerial":[7],"vehicles":[8],"(UAVs),":[9],"especially":[10],"during":[11],"aggressive":[12],"rotational":[13],"maneuvers.":[14],"Existing":[15],"methods-whether":[16],"handcrafted-based":[17],"or":[18,25],"learning-based-often":[19],"suffer":[20],"from":[21],"limited":[22],"rotation":[23],"robustness":[24],"high":[26],"computational":[27,117],"costs,":[28],"hindering":[29],"their":[30],"use":[31],"in":[32,134],"real-time":[33,131],"applications.":[34],"To":[35],"address":[36],"these":[37],"challenges,":[38],"we":[39],"propose":[40],"a":[41,61,70,82],"novel":[42],"framework":[43],"learning":[45,79],"compact,":[46],"rotation-aware":[47],"binary":[48,77],"descriptors.":[49],"Our":[50],"approach":[51],"unifies":[52],"descriptor":[53,78],"binarization,":[54],"knowledge":[55],"distillation,":[56],"and":[57,97,119,127],"rotation-equivariant":[58],"representation":[59],"within":[60],"joint":[62],"optimization":[63],"formulation.":[64],"We":[65],"recast":[66],"the":[67,76,104],"objective":[68],"into":[69,81],"Semi-Orthogonal":[71],"Procrustes":[72],"Problem,":[73],"thereby":[74],"converting":[75],"process":[80],"classification":[83],"task":[84],"via":[85],"pseudo-label":[86],"generation.":[87],"A":[88],"dual-softmax":[89],"loss":[90],"further":[92],"employed":[93],"to":[94],"improve":[95],"distinctiveness":[96],"geometric":[98],"consistency.":[99],"Extensive":[100],"evaluations":[101],"demonstrate":[102],"that":[103],"method":[105],"achieves":[106],"highly":[107],"competitive":[108],"matching":[109],"accuracy":[110],"under":[111],"large":[112],"rotations":[113],"while":[114],"maintaining":[115],"low":[116],"cost":[118],"storage":[120],"overhead.":[121],"Thereby,":[122],"it":[123],"offers":[124],"an":[125],"efficient":[126],"practical":[128],"solution":[129],"visual":[132],"resource-constrained":[135],"systems":[136],"such":[137],"as":[138],"UAVs.":[139]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-01-21T00:00:00"}