{"id":"https://openalex.org/W2151900353","doi":"https://doi.org/10.1177/0278364908098412","title":"Robust Appearance Based Visual Route Following for Navigation in Large-scale Outdoor Environments","display_name":"Robust Appearance Based Visual Route Following for Navigation in Large-scale Outdoor Environments","publication_year":2009,"publication_date":"2009-02-12","ids":{"openalex":"https://openalex.org/W2151900353","doi":"https://doi.org/10.1177/0278364908098412","mag":"2151900353"},"language":"en","primary_location":{"id":"doi:10.1177/0278364908098412","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908098412","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5007652463","display_name":"Alan M. Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Alan M. Zhang","raw_affiliation_strings":["Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Clayton, Victoria 3800, Australia,"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Clayton, Victoria 3800, Australia,","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048939792","display_name":"Lindsay Kleeman","orcid":"https://orcid.org/0000-0002-3629-0666"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Lindsay Kleeman","raw_affiliation_strings":["Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Clayton, Victoria 3800, Australia,"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Clayton, Victoria 3800, Australia,","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5007652463"],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":null,"apc_paid":null,"fwci":280.4331,"has_fulltext":false,"cited_by_count":80,"citation_normalized_percentile":{"value":0.99969361,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"28","issue":"3","first_page":"331","last_page":"356"},"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":0.9994000196456909,"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":0.9980999827384949,"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-vision","display_name":"Computer vision","score":0.7844638824462891},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7445215582847595},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6527447700500488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6491866707801819},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6400575637817383},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6079250574111938},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6014493107795715},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5282444357872009},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5243430733680725},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.516913652420044},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.43699952960014343},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16850417852401733}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7844638824462891},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7445215582847595},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6527447700500488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6491866707801819},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6400575637817383},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6079250574111938},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6014493107795715},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5282444357872009},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5243430733680725},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.516913652420044},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.43699952960014343},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16850417852401733},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364908098412","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908098412","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.890.1058","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.890.1058","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/28/3/331.full.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320971","display_name":"Monash University","ror":"https://ror.org/02bfwt286"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W774034202","https://openalex.org/W1490474722","https://openalex.org/W1497114395","https://openalex.org/W1561078763","https://openalex.org/W1601378499","https://openalex.org/W1634628684","https://openalex.org/W1639503254","https://openalex.org/W1882517369","https://openalex.org/W1963623376","https://openalex.org/W1968256583","https://openalex.org/W1973350167","https://openalex.org/W1983957688","https://openalex.org/W2003319137","https://openalex.org/W2013630475","https://openalex.org/W2029698193","https://openalex.org/W2043146861","https://openalex.org/W2050681384","https://openalex.org/W2059470495","https://openalex.org/W2077321821","https://openalex.org/W2089245644","https://openalex.org/W2090868215","https://openalex.org/W2095975937","https://openalex.org/W2107355802","https://openalex.org/W2110751570","https://openalex.org/W2113243634","https://openalex.org/W2114766649","https://openalex.org/W2118620951","https://openalex.org/W2121386037","https://openalex.org/W2130404621","https://openalex.org/W2160685053","https://openalex.org/W2162359270","https://openalex.org/W2170492782","https://openalex.org/W2596164567","https://openalex.org/W2914033084","https://openalex.org/W3150997492","https://openalex.org/W4214610984","https://openalex.org/W4236965008","https://openalex.org/W4237080436","https://openalex.org/W4244791762"],"related_works":["https://openalex.org/W2126722086","https://openalex.org/W2896474523","https://openalex.org/W3004363006","https://openalex.org/W2947241406","https://openalex.org/W2973104315","https://openalex.org/W2971051170","https://openalex.org/W2461754822","https://openalex.org/W2373641359","https://openalex.org/W2145974649","https://openalex.org/W2134943711"],"abstract_inverted_index":{"In":[0],"this":[1,127],"paper":[2,44],"we":[3],"present":[4],"a":[5,59],"navigation":[6],"algorithm":[7],"that":[8],"enables":[9],"mobile":[10],"robots":[11],"to":[12,84,113,143],"retrace":[13],"routes":[14],"previously":[15],"taught":[16],"under":[17,136],"the":[18,43,72,78,81,88,91,94,97,110,115,140,155],"control":[19],"of":[20,66,90,133],"human":[21],"operators":[22],"in":[23,42,109,117,154],"outdoor":[24],"environments.":[25],"Possible":[26],"applications":[27],"include":[28],"robot":[29,82],"couriers,":[30],"autonomous":[31,79,95],"vehicles,":[32],"tour":[33],"guides":[34],"and":[35,54,58,146],"robotic":[36],"patrols.":[37],"The":[38],"appearance-based":[39],"approach":[40],"presented":[41],"is":[45,69,100,122,151],"provably":[46],"convergent,":[47],"computationally":[48],"inexpensive":[49],"compared":[50,101],"with":[51,102],"map-based":[52],"approaches":[53],"requires":[55],"only":[56],"odometry":[57],"monocular":[60],"omnidirectional":[61],"vision":[62],"sensor.":[63],"A":[64],"sequence":[65],"reference":[67,103],"images":[68,104],"recorded":[70],"during":[71],"human-guided":[73],"route-teaching":[74],"phase.":[75],"Before":[76],"starting":[77],"phase,":[80,96],"needs":[83],"be":[85],"positioned":[86],"at":[87],"beginning":[89],"route.":[92],"During":[93],"measurement":[98],"image":[99,106],"using":[105],"cross-correlation":[107],"performed":[108,135],"Fourier":[111],"domain":[112],"recover":[114],"difference":[116],"relative":[118],"orientation.":[119],"Route":[120],"following":[121],"achieved":[123],"by":[124],"compensating":[125],"for":[126],"orientation":[128],"difference.":[129],"Over":[130],"18":[131],"km":[132],"experiments":[134],"varying":[137],"conditions":[138],"demonstrate":[139],"algorithm's":[141],"robustness":[142],"lighting":[144],"variations":[145],"partial":[147],"occlusion.":[148],"Obstacle":[149],"avoidance":[150],"not":[152],"included":[153],"current":[156],"system.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":13}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}