{"id":"https://openalex.org/W3016003632","doi":"https://doi.org/10.1109/tii.2020.2986086","title":"Mixture Density-PoseNet and its Application to Monocular Camera-Based Global Localization","display_name":"Mixture Density-PoseNet and its Application to Monocular Camera-Based Global Localization","publication_year":2020,"publication_date":"2020-04-08","ids":{"openalex":"https://openalex.org/W3016003632","doi":"https://doi.org/10.1109/tii.2020.2986086","mag":"3016003632"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2020.2986086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2020.2986086","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Transactions on Industrial Informatics","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/A5019991842","display_name":"HyungGi Jo","orcid":"https://orcid.org/0000-0003-2689-1940"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"HyungGi Jo","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Yonsei University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-2689-1940","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Yonsei University, Seoul, South Korea","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031015864","display_name":"Woosub Lee","orcid":"https://orcid.org/0000-0002-1813-9348"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woosub Lee","raw_affiliation_strings":["Center for Medical Robotics, Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-1813-9348","affiliations":[{"raw_affiliation_string":"Center for Medical Robotics, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065415014","display_name":"Euntai Kim","orcid":"https://orcid.org/0000-0002-0975-8390"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Euntai Kim","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Yonsei University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0975-8390","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Yonsei University, Seoul, South Korea","institution_ids":["https://openalex.org/I193775966"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019991842"],"corresponding_institution_ids":["https://openalex.org/I193775966"],"apc_list":null,"apc_paid":null,"fwci":8.1419,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.97070845,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"17","issue":"1","first_page":"388","last_page":"397"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9944999814033508,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8281333446502686},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7157983779907227},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.6255953311920166},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6124635934829712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5758090615272522},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5522255897521973},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4962034821510315},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.4916020333766937},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4841347634792328},{"id":"https://openalex.org/keywords/smart-camera","display_name":"Smart camera","score":0.48012638092041016},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4703916311264038},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.46525245904922485},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3074406683444977},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.13890182971954346}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8281333446502686},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7157983779907227},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.6255953311920166},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6124635934829712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5758090615272522},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5522255897521973},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4962034821510315},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.4916020333766937},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4841347634792328},{"id":"https://openalex.org/C161334170","wikidata":"https://www.wikidata.org/wiki/Q1428778","display_name":"Smart camera","level":2,"score":0.48012638092041016},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4703916311264038},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.46525245904922485},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3074406683444977},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.13890182971954346},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2020.2986086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2020.2986086","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Transactions on Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W88434223","https://openalex.org/W153084048","https://openalex.org/W1522301498","https://openalex.org/W1579853615","https://openalex.org/W1606157100","https://openalex.org/W1642248920","https://openalex.org/W1989476314","https://openalex.org/W2075550860","https://openalex.org/W2097117768","https://openalex.org/W2131846894","https://openalex.org/W2168676389","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2312533026","https://openalex.org/W2402144811","https://openalex.org/W2471962767","https://openalex.org/W2522940611","https://openalex.org/W2529449237","https://openalex.org/W2535547924","https://openalex.org/W2549139847","https://openalex.org/W2556455135","https://openalex.org/W2584731199","https://openalex.org/W2592183487","https://openalex.org/W2605111497","https://openalex.org/W2740418457","https://openalex.org/W2752782242","https://openalex.org/W2775299739","https://openalex.org/W2798302276","https://openalex.org/W2891073791","https://openalex.org/W2899771611","https://openalex.org/W2953384591","https://openalex.org/W2954791479","https://openalex.org/W2957668266","https://openalex.org/W2963024893","https://openalex.org/W2963037989","https://openalex.org/W2963420686","https://openalex.org/W2964121744","https://openalex.org/W2981381717","https://openalex.org/W2990577732","https://openalex.org/W3001921989","https://openalex.org/W3099342433","https://openalex.org/W3102327032","https://openalex.org/W6603604263","https://openalex.org/W6631190155","https://openalex.org/W6634817459","https://openalex.org/W6713134421","https://openalex.org/W6756040250"],"related_works":["https://openalex.org/W2144760288","https://openalex.org/W3102636071","https://openalex.org/W1968716783","https://openalex.org/W2891001608","https://openalex.org/W1628937209","https://openalex.org/W290666912","https://openalex.org/W2770260910","https://openalex.org/W2113039159","https://openalex.org/W4321854216","https://openalex.org/W1726816713"],"abstract_inverted_index":{"Global":[0],"localization":[1,41],"using":[2],"a":[3,22,45,61],"monocular":[4],"camera":[5,50,80,87,98],"is":[6,31,70,120,129],"one":[7],"of":[8,60,68,77,83,113],"the":[9,49,58,72,75,84,90,93,97,110,117],"most":[10,85],"challenging":[11],"problems":[12],"in":[13,57,109],"computer":[14],"vision":[15],"and":[16,89,126],"intelligent":[17],"robotics.":[18],"In":[19],"this":[20,35],"article,":[21],"new":[23],"deep":[24],"neural":[25],"network":[26,73],"named":[27],"Mixture":[28],"Density":[29],"(MD)-PoseNet":[30],"proposed":[32,118],"to":[33,122],"address":[34],"problem.":[36],"Unlike":[37],"existing":[38],"learning-based":[39],"global":[40],"methods":[42],"that":[43,71],"return":[44],"single":[46],"guess":[47],"for":[48,96],"pose,":[51,88],"MD-PoseNet":[52,69,105],"returns":[53,74],"multiple":[54,94,101],"guesses":[55,95,102],"represented":[56],"form":[59],"Gaussian":[62],"mixture":[63],"(GM).":[64],"The":[65,100],"key":[66],"idea":[67],"distribution":[76,91],"all":[78],"probable":[79,86],"poses":[81],"instead":[82],"represents":[92],"pose.":[99],"returned":[103],"by":[104],"are,":[106],"consequently,":[107],"exploited":[108],"probabilistic":[111],"framework":[112],"particle":[114],"filters.":[115],"Finally,":[116],"method":[119],"applied":[121],"four":[123],"different":[124],"environments,":[125],"its":[127],"validity":[128],"demonstrated":[130],"via":[131],"experiments.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}