{"id":"https://openalex.org/W4391308125","doi":"https://doi.org/10.1109/smc53992.2023.10394246","title":"LocoNeRF: A NeRF-Based Approach for Local Structure from Motion for Precise Localization","display_name":"LocoNeRF: A NeRF-Based Approach for Local Structure from Motion for Precise Localization","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4391308125","doi":"https://doi.org/10.1109/smc53992.2023.10394246"},"language":"en","primary_location":{"id":"doi:10.1109/smc53992.2023.10394246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53992.2023.10394246","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-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/A5114122404","display_name":"Artem Nenashev","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Artem Nenashev","raw_affiliation_strings":["Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"affiliations":[{"raw_affiliation_string":"Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068691144","display_name":"Mikhail Kurenkov","orcid":"https://orcid.org/0000-0001-5718-956X"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Mikhail Kurenkov","raw_affiliation_strings":["Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"affiliations":[{"raw_affiliation_string":"Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016050257","display_name":"Andrei Potapov","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Andrei Potapov","raw_affiliation_strings":["Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"affiliations":[{"raw_affiliation_string":"Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083381793","display_name":"Iana Zhura","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Iana Zhura","raw_affiliation_strings":["Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"affiliations":[{"raw_affiliation_string":"Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092616579","display_name":"Maksim Katerishich","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Maksim Katerishich","raw_affiliation_strings":["Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"affiliations":[{"raw_affiliation_string":"Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"affiliations":[{"raw_affiliation_string":"Skoltech,Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5114122404"],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":1.3235,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.85342812,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"641","last_page":"646"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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":0.9976000189781189,"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":0.7674607038497925},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7459805011749268},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7112973928451538},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.5970889925956726},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5839848518371582},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5687814354896545},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5160748362541199},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.49819159507751465},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41626471281051636},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3708983063697815},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.2869132161140442},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.27822500467300415},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0896376371383667}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7674607038497925},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7459805011749268},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7112973928451538},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.5970889925956726},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5839848518371582},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5687814354896545},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5160748362541199},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.49819159507751465},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41626471281051636},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3708983063697815},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2869132161140442},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.27822500467300415},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0896376371383667}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc53992.2023.10394246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53992.2023.10394246","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1677409904","https://openalex.org/W2034392969","https://openalex.org/W2117228865","https://openalex.org/W2143238378","https://openalex.org/W2296228853","https://openalex.org/W2471962767","https://openalex.org/W2620629206","https://openalex.org/W2728498859","https://openalex.org/W2780682589","https://openalex.org/W2802597471","https://openalex.org/W2883804845","https://openalex.org/W2951019013","https://openalex.org/W2955730076","https://openalex.org/W2962705366","https://openalex.org/W3036919210","https://openalex.org/W3043075211","https://openalex.org/W3045264917","https://openalex.org/W3092948912","https://openalex.org/W3118414639","https://openalex.org/W3126469991","https://openalex.org/W3141915075","https://openalex.org/W3176602998","https://openalex.org/W3185232663","https://openalex.org/W3187917571","https://openalex.org/W3202897040","https://openalex.org/W3203570626","https://openalex.org/W3205085146","https://openalex.org/W3214919204","https://openalex.org/W3215769467","https://openalex.org/W4200150166","https://openalex.org/W4205574455","https://openalex.org/W4210665925","https://openalex.org/W4221151978","https://openalex.org/W4226301444","https://openalex.org/W4226396378","https://openalex.org/W4287756134","https://openalex.org/W4312325479","https://openalex.org/W4378450585","https://openalex.org/W4383108921","https://openalex.org/W4385801430","https://openalex.org/W6780901898","https://openalex.org/W6784492152","https://openalex.org/W6843166957"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W2051437301","https://openalex.org/W4283811407","https://openalex.org/W2134192444"],"abstract_inverted_index":{"Visual":[0],"localization":[1,34],"is":[2,160,185,195],"a":[3,25],"critical":[4],"task":[5],"in":[6,128,141],"mobile":[7],"robotics,":[8],"and":[9,53,122,126,131],"researchers":[10],"are":[11],"continuously":[12],"developing":[13],"new":[14],"approaches":[15],"to":[16,28,80,83,105,155,205],"enhance":[17],"its":[18,133],"efficiency.":[19],"In":[20],"this":[21],"article,":[22],"we":[23,71,200],"propose":[24,72],"novel":[26],"approach":[27],"improve":[29],"the":[30,43,54,87,99,110,142,156,164,177,180,189,207,214],"accuracy":[31,111,150,172],"of":[32,45,56,112,151,173,179,191,209],"visual":[33],"using":[35,120,210],"Structure":[36],"from":[37,50,213],"Motion":[38],"(SfM)":[39],"techniques.":[40],"We":[41,92,108],"highlight":[42],"limitations":[44],"global":[46],"SfM,":[47,58],"which":[48,59,159,169],"suffers":[49],"high":[51],"latency,":[52],"challenges":[55],"local":[57,137],"requires":[60],"large":[61],"image":[62,81],"databases":[63],"for":[64,90,183],"accurate":[65],"reconstruction.":[66,216],"To":[67],"address":[68],"these":[69],"issues,":[70],"utilizing":[73],"Neural":[74],"Radiance":[75],"Fields":[76],"(NeRF),":[77],"as":[78],"opposed":[79],"databases,":[82],"cut":[84],"down":[85],"on":[86],"space":[88],"required":[89,182],"storage.":[91],"suggest":[93],"that":[94],"sampling":[95],"reference":[96,211],"images":[97,212],"around":[98],"prior":[100],"query":[101],"position":[102],"can":[103],"lead":[104],"further":[106],"improvements.":[107],"evaluate":[109],"our":[113,192],"proposed":[114,146],"method":[115,147,167],"against":[116,136],"ground":[117,157],"truth":[118],"obtained":[119],"LIDAR":[121],"Advanced":[123],"Lidar":[124],"Odometry":[125],"Mapping":[127],"Real-time":[129],"(A-LOAM),":[130],"compare":[132],"storage":[134],"usage":[135],"SfM":[138],"with":[139],"COLMAP":[140,184],"conducted":[143],"experiments.":[144],"Our":[145],"achieves":[148],"an":[149,171,202],"0.068":[152],"meters":[153],"compared":[154],"truth,":[158],"slightly":[161],"lower":[162],"than":[163],"most":[165],"advanced":[166],"COLMAP,":[168],"has":[170],"0.022":[174],"meters.":[175],"However,":[176],"size":[178,190],"database":[181],"400":[186],"megabytes,":[187],"whereas":[188],"NeRF":[193,215],"model":[194],"only":[196],"160":[197],"megabytes.":[198],"Finally,":[199],"perform":[201],"ablation":[203],"study":[204],"assess":[206],"impact":[208]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}