{"id":"https://openalex.org/W4320059785","doi":"https://doi.org/10.1109/ssrr56537.2022.10018713","title":"Learning to Encode Vision on the Fly in Unknown Environments: A Continual Learning SLAM Approach for Drones","display_name":"Learning to Encode Vision on the Fly in Unknown Environments: A Continual Learning SLAM Approach for Drones","publication_year":2022,"publication_date":"2022-11-08","ids":{"openalex":"https://openalex.org/W4320059785","doi":"https://doi.org/10.1109/ssrr56537.2022.10018713"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr56537.2022.10018713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr56537.2022.10018713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5073202321","display_name":"Ali Safa","orcid":"https://orcid.org/0000-0001-5768-8633"},"institutions":[{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Ali Safa","raw_affiliation_strings":["Faculty of Electrical Engineering,Leuven,Belgium,3001","imec, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering,Leuven,Belgium,3001","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"imec, Leuven, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071221406","display_name":"Tim Verbelen","orcid":"https://orcid.org/0000-0003-2731-7262"},"institutions":[{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]},{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Tim Verbelen","raw_affiliation_strings":["Ghent University,IDLab,Gent,Belgium,B-9052","imec, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Ghent University,IDLab,Gent,Belgium,B-9052","institution_ids":["https://openalex.org/I32597200"]},{"raw_affiliation_string":"imec, Leuven, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076642449","display_name":"Ilja Ocket","orcid":"https://orcid.org/0000-0002-1503-7397"},"institutions":[{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Ilja Ocket","raw_affiliation_strings":["imec,Leuven,Belgium,3001"],"affiliations":[{"raw_affiliation_string":"imec,Leuven,Belgium,3001","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016885070","display_name":"Andr\u00e9 Bourdoux","orcid":"https://orcid.org/0000-0002-9264-7850"},"institutions":[{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Andre Bourdoux","raw_affiliation_strings":["imec,Leuven,Belgium,3001"],"affiliations":[{"raw_affiliation_string":"imec,Leuven,Belgium,3001","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073820422","display_name":"Hichem Sahli","orcid":"https://orcid.org/0000-0002-1774-2970"},"institutions":[{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Hichem Sahli","raw_affiliation_strings":["ETRO, VUB,Brussels,Belgium,1050","imec, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"ETRO, VUB,Brussels,Belgium,1050","institution_ids":[]},{"raw_affiliation_string":"imec, Leuven, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033235745","display_name":"Francky Catthoor","orcid":"https://orcid.org/0000-0002-3599-8515"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Francky Catthoor","raw_affiliation_strings":["Faculty of Electrical Engineering,Leuven,Belgium,3001","imec, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering,Leuven,Belgium,3001","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"imec, Leuven, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029270525","display_name":"Georges Gielen","orcid":"https://orcid.org/0000-0002-4061-9428"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Georges G.E. Gielen","raw_affiliation_strings":["Faculty of Electrical Engineering,Leuven,Belgium,3001","imec, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering,Leuven,Belgium,3001","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"imec, Leuven, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5073202321"],"corresponding_institution_ids":["https://openalex.org/I4210114974","https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":4.4615,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.94722381,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"373","last_page":"378"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.996399998664856,"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":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7765498161315918},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.736335039138794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7141767740249634},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5998878479003906},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5412499308586121},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.49627000093460083},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4928293526172638},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4549732208251953},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.4534015357494354},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.4515603184700012},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.43448707461357117},{"id":"https://openalex.org/keywords/coding","display_name":"Coding (social sciences)","score":0.4139782190322876},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34896641969680786},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27103912830352783},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1629875898361206}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7765498161315918},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.736335039138794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7141767740249634},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5998878479003906},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5412499308586121},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.49627000093460083},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4928293526172638},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4549732208251953},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.4534015357494354},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.4515603184700012},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.43448707461357117},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.4139782190322876},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34896641969680786},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27103912830352783},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1629875898361206},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ssrr56537.2022.10018713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr56537.2022.10018713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:archive.ugent.be:01HVRCKJJ070XDBP65SSCZ7W8G","is_oa":false,"landing_page_url":"https://biblio.ugent.be/publication/01HVRCKJJ070XDBP65SSCZ7W8G","pdf_url":null,"source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ISBN: 9781665456807","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/718917","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/718917","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"25th IEEE International Symposium on Safety, Security, and Rescue Robotics (IEEE SSRR), SPAIN, Sevilla, 8-10 November 2022","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1560724230","https://openalex.org/W1612997784","https://openalex.org/W1686810756","https://openalex.org/W2005876975","https://openalex.org/W2019515298","https://openalex.org/W2035820295","https://openalex.org/W2105497548","https://openalex.org/W2115706991","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2161338791","https://openalex.org/W2492794003","https://openalex.org/W2976635190","https://openalex.org/W3082248862","https://openalex.org/W3088725549","https://openalex.org/W3207777176","https://openalex.org/W3216131653","https://openalex.org/W4323525805"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4247925126","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4386322305"],"abstract_inverted_index":{"Learning":[0,110],"to":[1,97],"safely":[2],"navigate":[3],"in":[4,15,64,77,102,136],"unknown":[5,103],"environ-ments":[6],"is":[7,85],"an":[8],"important":[9],"task":[10],"for":[11,42,74,95],"autonomous":[12],"drones":[13,75],"used":[14],"surveillance":[16],"and":[17,29,111],"rescue":[18],"operations.":[19],"In":[20,87],"recent":[21],"years,":[22],"a":[23,92,107,117,134,137],"number":[24,144],"of":[25,145],"learning-based":[26,54],"Simultaneous":[27],"Localisation":[28],"Mapping":[30],"(SLAM)":[31],"systems":[32,56],"relying":[33],"on":[34,58,99],"deep":[35,66],"neural":[36],"networks":[37],"(DNNs)":[38],"have":[39],"been":[40],"proposed":[41,119],"applications":[43],"where":[44,82,141],"conventional":[45],"feature":[46,60],"descriptors":[47],"do":[48],"not":[49],"perform":[50],"well.":[51],"However,":[52],"such":[53],"SLAM":[55,98],"rely":[57],"DNN":[59],"encoders":[61],"trained":[62],"offline":[63],"typical":[65],"learning":[67,96],"settings.":[68],"This":[69],"makes":[70,148],"them":[71],"less":[72],"suited":[73],"deployed":[76],"environments":[78],"unseen":[79],"during":[80],"training,":[81],"continual":[83],"adaptation":[84],"paramount.":[86],"this":[88],"paper,":[89],"we":[90],"present":[91],"new":[93],"method":[94],"the":[100,142],"fly":[101],"environments,":[104],"by":[105,133],"modulating":[106],"low-complexity":[108],"Dictionary":[109],"Sparse":[112],"Coding":[113],"(DLSC)":[114],"pipeline":[115],"with":[116,130],"newly":[118],"Quadratic":[120],"Bayesian":[121],"Surprise":[122],"(QBS)":[123],"factor.":[124],"We":[125],"experimentally":[126],"validate":[127],"our":[128],"approach":[129],"data":[131],"collected":[132],"drone":[135],"challenging":[138],"warehouse":[139],"scenario,":[140],"high":[143],"ambiguous":[146],"scenes":[147],"visual":[149],"disambiguation":[150],"hard.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
