{"id":"https://openalex.org/W4365420667","doi":"https://doi.org/10.1109/tro.2023.3262106","title":"CoPR: Toward Accurate Visual Localization With Continuous Place-Descriptor Regression","display_name":"CoPR: Toward Accurate Visual Localization With Continuous Place-Descriptor Regression","publication_year":2023,"publication_date":"2023-04-12","ids":{"openalex":"https://openalex.org/W4365420667","doi":"https://doi.org/10.1109/tro.2023.3262106"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3262106","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tro.2023.3262106","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2304.07426","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074577365","display_name":"Mubariz Zaffar","orcid":"https://orcid.org/0000-0002-9368-2391"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Mubariz Zaffar","raw_affiliation_strings":["Intelligent Vehicles Group, Department of Cognitive Robotics, Delft University of Technology (TU Delft), Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Intelligent Vehicles Group, Department of Cognitive Robotics, Delft University of Technology (TU Delft), Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027616562","display_name":"Liangliang Nan","orcid":"https://orcid.org/0000-0002-5629-9975"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Liangliang Nan","raw_affiliation_strings":["3D Geoinformation Group, Faculty of Architecture and the Built Environment, Delft University of Technology (TU Delft), Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"3D Geoinformation Group, Faculty of Architecture and the Built Environment, Delft University of Technology (TU Delft), Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074902093","display_name":"Julian F. P. Kooij","orcid":"https://orcid.org/0000-0001-9919-0710"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Julian Francisco Pieter Kooij","raw_affiliation_strings":["Intelligent Vehicles Group, Department of Cognitive Robotics, Delft University of Technology (TU Delft), Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Intelligent Vehicles Group, Department of Cognitive Robotics, Delft University of Technology (TU Delft), Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5074577365"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":3.8071,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93291831,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"39","issue":"4","first_page":"2825","last_page":"2841"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994999766349792,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7308453321456909},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.59110426902771},{"id":"https://openalex.org/keywords/extrapolation","display_name":"Extrapolation","score":0.5903156995773315},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.582261860370636},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5517362356185913},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.5471129417419434},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5432658195495605},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5043100118637085},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.4758588671684265},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.47482189536094666},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.4368378818035126},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2819785475730896},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.19666102528572083},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08090129494667053}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7308453321456909},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.59110426902771},{"id":"https://openalex.org/C132459708","wikidata":"https://www.wikidata.org/wiki/Q744069","display_name":"Extrapolation","level":2,"score":0.5903156995773315},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.582261860370636},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5517362356185913},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.5471129417419434},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5432658195495605},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5043100118637085},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.4758588671684265},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.47482189536094666},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.4368378818035126},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2819785475730896},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.19666102528572083},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08090129494667053},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2023.3262106","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tro.2023.3262106","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2304.07426","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2304.07426","pdf_url":"https://arxiv.org/pdf/2304.07426","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:tudelft.nl:uuid:6ffff815-8775-43e8-b1cc-196240bcb1f6","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:6ffff815-8775-43e8-b1cc-196240bcb1f6","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2304.07426","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2304.07426","pdf_url":"https://arxiv.org/pdf/2304.07426","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321012","display_name":"Technische Universiteit Delft","ror":"https://ror.org/02e2c7k09"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4365420667.pdf","grobid_xml":"https://content.openalex.org/works/W4365420667.grobid-xml"},"referenced_works_count":71,"referenced_works":["https://openalex.org/W155607310","https://openalex.org/W301022506","https://openalex.org/W1616969904","https://openalex.org/W1966652716","https://openalex.org/W1987648924","https://openalex.org/W2042819305","https://openalex.org/W2073761981","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2284029970","https://openalex.org/W2522940611","https://openalex.org/W2544587078","https://openalex.org/W2556455135","https://openalex.org/W2580440899","https://openalex.org/W2584731199","https://openalex.org/W2602709638","https://openalex.org/W2605111497","https://openalex.org/W2740418457","https://openalex.org/W2749379418","https://openalex.org/W2752709290","https://openalex.org/W2771385090","https://openalex.org/W2780675120","https://openalex.org/W2798302276","https://openalex.org/W2892865870","https://openalex.org/W2899663614","https://openalex.org/W2914993068","https://openalex.org/W2922243907","https://openalex.org/W2949534445","https://openalex.org/W2951019013","https://openalex.org/W2962705366","https://openalex.org/W2962799344","https://openalex.org/W2963024893","https://openalex.org/W2963210849","https://openalex.org/W2963542991","https://openalex.org/W2963588253","https://openalex.org/W2963856988","https://openalex.org/W2963926543","https://openalex.org/W2964175348","https://openalex.org/W2973689592","https://openalex.org/W2982101479","https://openalex.org/W2983134350","https://openalex.org/W2983230029","https://openalex.org/W2984210651","https://openalex.org/W2990519439","https://openalex.org/W3003214906","https://openalex.org/W3010479006","https://openalex.org/W3034968345","https://openalex.org/W3090189425","https://openalex.org/W3093386634","https://openalex.org/W3099151102","https://openalex.org/W3099342433","https://openalex.org/W3102846113","https://openalex.org/W3106462076","https://openalex.org/W3109585842","https://openalex.org/W3112108866","https://openalex.org/W3115267626","https://openalex.org/W3135588990","https://openalex.org/W3163149666","https://openalex.org/W3176602998","https://openalex.org/W3187923576","https://openalex.org/W3199393837","https://openalex.org/W3206233589","https://openalex.org/W4287272372","https://openalex.org/W4300614726","https://openalex.org/W6606343831","https://openalex.org/W6629368666","https://openalex.org/W6677749650","https://openalex.org/W6755977528","https://openalex.org/W6785294976","https://openalex.org/W6791309518","https://openalex.org/W6802692370"],"related_works":["https://openalex.org/W1968270095","https://openalex.org/W4296478327","https://openalex.org/W1960072520","https://openalex.org/W2042397106","https://openalex.org/W2168645698","https://openalex.org/W2560420848","https://openalex.org/W2167211785","https://openalex.org/W2052829037","https://openalex.org/W4237321385","https://openalex.org/W4233216102"],"abstract_inverted_index":{"Visual":[0],"place":[1],"recognition":[2],"(VPR)":[3],"is":[4,176],"an":[5,70],"image-based":[6],"localization":[7,43,77,94,148],"method":[8],"that":[9,122],"estimates":[10],"the":[11,20,54,74,90,111,155,164],"camera":[12],"location":[13],"of":[14,28,128,154],"a":[15,26,66,160],"query":[16],"image":[17,24],"by":[18,158],"retrieving":[19],"most":[21],"similar":[22],"reference":[23,30,46,55],"from":[25,109],"map":[27,47,91],"geo-tagged":[29],"images.":[31],"In":[32],"this":[33],"work,":[34],"we":[35,115],"look":[36],"into":[37],"two":[38],"fundamental":[39],"bottlenecks":[40],"for":[41,57,126,163],"its":[42],"accuracy:":[44],"1)":[45],"sparseness":[48],"and":[49,92,100,120,139,172],"2)":[50],"viewpoint":[51],"invariance.":[52],"First,":[53],"images":[56],"VPR":[58,106],"are":[59],"only":[60,110],"available":[61],"at":[62],"sparse":[63],"poses":[64],"in":[65,146],"map,":[67],"which":[68],"enforces":[69],"upper":[71],"bound":[72],"on":[73,134,141,152],"maximum":[75],"achievable":[76],"accuracy":[78,149],"through":[79],"VPR.":[80],"We,":[81],"therefore,":[82],"propose":[83],"Continuous":[84],"Place-descriptor":[85],"Regression":[86],"(CoPR)":[87],"to":[88,103],"densify":[89],"improve":[93],"accuracy.":[95],"We":[96,130],"study":[97],"various":[98],"interpolation":[99],"extrapolation":[101],"models":[102,133],"regress":[104],"additional":[105],"feature":[107,118,165],"descriptors":[108],"existing":[112,136],"references.":[113],"Second,":[114],"compare":[116],"different":[117],"encoders":[119],"show":[121],"CoPR":[123,171],"presents":[124],"value":[125],"all":[127],"them.":[129],"evaluate":[131],"our":[132],"three":[135],"public":[137],"datasets":[138],"report":[140],"average":[142],"around":[143],"30%":[144],"improvement":[145],"VPR-based":[147],"using":[150,159],"CoPR,":[151],"top":[153],"15%":[156],"increase":[157],"viewpoint-variant":[161],"loss":[162],"encoder.":[166],"The":[167],"complementary":[168],"relation":[169],"between":[170],"relative":[173],"pose":[174],"estimation":[175],"also":[177],"discussed.":[178]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2023-04-14T00:00:00"}