{"id":"https://openalex.org/W2286757098","doi":"https://doi.org/10.1177/0278364915618766","title":"Routed roads: Probabilistic vision-based place recognition for changing conditions, split streets and varied viewpoints","display_name":"Routed roads: Probabilistic vision-based place recognition for changing conditions, split streets and varied viewpoints","publication_year":2016,"publication_date":"2016-02-23","ids":{"openalex":"https://openalex.org/W2286757098","doi":"https://doi.org/10.1177/0278364915618766","mag":"2286757098"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915618766","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915618766","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/A5054312455","display_name":"Edward Pepperell","orcid":null},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Edward Pepperell","raw_affiliation_strings":["Australian Centre for Robotic Vision, Queensland University of Technology, Brisbane, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911","https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080187476","display_name":"Peter Corke","orcid":"https://orcid.org/0000-0001-6650-367X"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peter Corke","raw_affiliation_strings":["Australian Centre for Robotic Vision, Queensland University of Technology, Brisbane, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911","https://openalex.org/I4210127558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["Australian Centre for Robotic Vision, Queensland University of Technology, Brisbane, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911","https://openalex.org/I4210127558"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054312455"],"corresponding_institution_ids":["https://openalex.org/I160993911","https://openalex.org/I4210127558"],"apc_list":null,"apc_paid":null,"fwci":91.1614,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.99712782,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"35","issue":"9","first_page":"1057","last_page":"1179"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9973999857902527,"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":0.9948999881744385,"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/robustness","display_name":"Robustness (evolution)","score":0.6494952440261841},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6194114685058594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6057634949684143},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.566585123538971},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.5596557855606079},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5398051738739014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.496799498796463},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4732392728328705},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.45625337958335876},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.45035845041275024},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.42436331510543823},{"id":"https://openalex.org/keywords/precision-and-recall","display_name":"Precision and recall","score":0.4187777042388916},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4183759391307831},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3390364646911621},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.28510618209838867},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11412927508354187},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11392202973365784}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6494952440261841},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6194114685058594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6057634949684143},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.566585123538971},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.5596557855606079},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5398051738739014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.496799498796463},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4732392728328705},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.45625337958335876},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.45035845041275024},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.42436331510543823},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.4187777042388916},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4183759391307831},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3390364646911621},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.28510618209838867},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11412927508354187},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11392202973365784},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","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/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364915618766","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915618766","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W8177059","https://openalex.org/W26944259","https://openalex.org/W301022506","https://openalex.org/W1162411702","https://openalex.org/W1488482743","https://openalex.org/W1677409904","https://openalex.org/W1749678571","https://openalex.org/W1896543294","https://openalex.org/W1968256263","https://openalex.org/W1994956562","https://openalex.org/W1998728242","https://openalex.org/W2021447234","https://openalex.org/W2025199671","https://openalex.org/W2028697710","https://openalex.org/W2030987944","https://openalex.org/W2032309405","https://openalex.org/W2038390631","https://openalex.org/W2041232406","https://openalex.org/W2054831422","https://openalex.org/W2060383861","https://openalex.org/W2062091367","https://openalex.org/W2062118960","https://openalex.org/W2072242701","https://openalex.org/W2088468563","https://openalex.org/W2092428023","https://openalex.org/W2094602152","https://openalex.org/W2102520634","https://openalex.org/W2110405746","https://openalex.org/W2117104690","https://openalex.org/W2118545852","https://openalex.org/W2121013842","https://openalex.org/W2124386111","https://openalex.org/W2128160875","https://openalex.org/W2131846894","https://openalex.org/W2137859058","https://openalex.org/W2140253100","https://openalex.org/W2143802618","https://openalex.org/W2144824356","https://openalex.org/W2149121659","https://openalex.org/W2152671441","https://openalex.org/W2160932543","https://openalex.org/W2236450291","https://openalex.org/W2242625550","https://openalex.org/W2293047233","https://openalex.org/W2342383553","https://openalex.org/W2559655401","https://openalex.org/W2614099519","https://openalex.org/W2734716188","https://openalex.org/W2951234442","https://openalex.org/W3102168793"],"related_works":["https://openalex.org/W2127461635","https://openalex.org/W2541791370","https://openalex.org/W2188506513","https://openalex.org/W2035976912","https://openalex.org/W1556286662","https://openalex.org/W1970672735","https://openalex.org/W2143578941","https://openalex.org/W3094187672","https://openalex.org/W631201274","https://openalex.org/W4352996069"],"abstract_inverted_index":{"Vision-based":[0],"place":[1,41,79,164,225],"recognition":[2,42,80,165,226],"is":[3,129],"becoming":[4],"an":[5],"increasingly":[6],"viable":[7],"component":[8],"of":[9,28,119,122,153,216],"navigation":[10],"systems":[11],"for":[12,83,228],"autonomous":[13],"robots":[14],"and":[15,31,56,64,90,167,169,182,190,201,222,230],"personal":[16],"aids.":[17],"However,":[18],"attaining":[19],"robustness":[20],"to":[21,115,132],"variations":[22],"in":[23,203],"environmental":[24],"conditions\u2014such":[25],"as":[26,87,97,137,139],"time":[27],"day,":[29],"weather":[30],"season\u2014and":[32],"camera":[33],"viewpoint":[34],"remains":[35],"a":[36,76,112,191,210,217],"major":[37],"challenge.":[38],"Featureless,":[39],"sequence-based":[40,78],"techniques":[43],"have":[44],"demonstrated":[45],"promise,":[46],"but":[47],"often":[48],"rely":[49],"on":[50,159,185],"long":[51],"image":[52,65,109],"sequences,":[53],"manually-tuned":[54],"parameters":[55],"exhaustive":[57],"sequence":[58,154],"match":[59],"searching":[60],"through":[61],"multiple":[62],"locations":[63],"scales.":[66],"In":[67],"this":[68,102],"paper,":[69],"we":[70],"address":[71],"these":[72,135,207],"deficiencies":[73],"by":[74,104,144],"implementing":[75],"condition-invariant,":[77],"algorithm":[81],"suitable":[82],"networked":[84],"environments,":[85],"such":[86,96],"city":[88],"streets,":[89],"routes":[91],"with":[92,111],"lateral":[93,141],"platform":[94],"shift,":[95],"multiple-lane":[98],"roads.":[99],"We":[100,173],"achieve":[101],"capability":[103,227],"augmenting":[105],"the":[106,117,175,179,214],"traditional":[107],"1D":[108],"database":[110],"directed":[113],"graph":[114],"describe":[116],"branching":[118],"contiguous":[120],"sections":[121],"imagery":[123],"at":[124],"intersections.":[125],"A":[126],"particle":[127],"filter":[128],"then":[130],"used":[131],"efficiently":[133],"explore":[134],"paths,":[136],"well":[138],"various":[140],"positions":[142],"synthesized":[143],"rescaling":[145],"imagery.":[146],"Our":[147],"proposed":[148],"approach":[149],"eliminates":[150],"manual":[151],"tuning":[152],"length":[155],"parameters,":[156],"improves":[157,162],"localization":[158],"branched":[160],"routes,":[161],"overall":[163],"accuracy":[166],"coverage,":[168],"reduces":[170],"computational":[171],"requirements.":[172],"evaluated":[174],"new":[176],"method":[177],"against":[178],"original":[180],"SeqSLAM":[181],"SMART":[183],"algorithms":[184],"two":[186],"day\u2013night,":[187],"road-based":[188],"datasets":[189],"summer\u2013winter":[192],"train":[193],"dataset,":[194],"where":[195],"it":[196],"attained":[197],"superior":[198],"precision-recall":[199],"performance":[200],"coverage":[202],"all":[204],"environments.":[205],"Together,":[206],"contributions":[208],"represent":[209],"significant":[211],"step":[212],"towards":[213],"provision":[215],"robust,":[218],"near":[219],"parameter-free":[220],"condition-":[221],"viewpoint-invariant":[223],"visual":[224],"vehicles":[229],"robots.":[231]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}