{"id":"https://openalex.org/W2796421455","doi":"https://doi.org/10.1177/0278364918761115","title":"Towards efficient and scalable visual homing","display_name":"Towards efficient and scalable visual homing","publication_year":2018,"publication_date":"2018-02-01","ids":{"openalex":"https://openalex.org/W2796421455","doi":"https://doi.org/10.1177/0278364918761115","mag":"2796421455"},"language":"en","primary_location":{"id":"doi:10.1177/0278364918761115","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918761115","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/A5089056549","display_name":"Annett Stelzer","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Annett Stelzer","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054538696","display_name":"Mallikarjuna Vayugundla","orcid":"https://orcid.org/0000-0002-9277-0461"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mallikarjuna Vayugundla","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082534208","display_name":"Elmar Mair","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Elmar Mair","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010885481","display_name":"Michael Suppa","orcid":"https://orcid.org/0000-0002-7362-9534"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael Suppa","raw_affiliation_strings":["Roboception GmbH, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Roboception GmbH, Munich, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["University of Freiburg, Department of Computer Science, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"University of Freiburg, Department of Computer Science, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5089056549"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.03348824,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"37","issue":"2-3","first_page":"225","last_page":"248"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.912105917930603},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7359000444412231},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7096438407897949},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6813600063323975},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5823706388473511},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5272837281227112},{"id":"https://openalex.org/keywords/homing","display_name":"Homing (biology)","score":0.5088560581207275},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4265443682670593}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.912105917930603},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7359000444412231},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7096438407897949},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6813600063323975},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5823706388473511},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5272837281227112},{"id":"https://openalex.org/C151872237","wikidata":"https://www.wikidata.org/wiki/Q1410759","display_name":"Homing (biology)","level":2,"score":0.5088560581207275},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4265443682670593},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364918761115","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918761115","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:elib.dlr.de:119587","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918761115>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:freidok.uni-freiburg.de:271268","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/271268","pdf_url":null,"source":{"id":"https://openalex.org/S4306401057","display_name":"FreiDok plus (Universit\u00e4tsbibliothek Freiburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I161046081","host_organization_name":"University of Freiburg","host_organization_lineage":["https://openalex.org/I161046081"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International journal of robotics research. - 37, 2-3 (2018) , 225-248, ISSN: 1741-3176","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1562619934","https://openalex.org/W1986210471","https://openalex.org/W2003912216","https://openalex.org/W2007715591","https://openalex.org/W2026761842","https://openalex.org/W2034125809","https://openalex.org/W2054110422","https://openalex.org/W2060589485","https://openalex.org/W2077321821","https://openalex.org/W2089245644","https://openalex.org/W2101553555","https://openalex.org/W2102402483","https://openalex.org/W2114766649","https://openalex.org/W2117248802","https://openalex.org/W2117364466","https://openalex.org/W2141584146","https://openalex.org/W2148000561","https://openalex.org/W2151900353","https://openalex.org/W2151914190","https://openalex.org/W2160685053","https://openalex.org/W2160702330","https://openalex.org/W2169568794","https://openalex.org/W2205300785","https://openalex.org/W2582998992","https://openalex.org/W3083391807","https://openalex.org/W4230475428","https://openalex.org/W4244791762","https://openalex.org/W4256431479","https://openalex.org/W4315567101"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W4243161226","https://openalex.org/W2950647290","https://openalex.org/W2620829895","https://openalex.org/W2142338363","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Visual":[0],"homing":[1,32,71,98,112,230],"describes":[2],"the":[3,43,49,68,76,84,88,125,148,151,161,168,180,197,205,211,225],"ability":[4],"of":[5,46,54,80,137,163,210],"a":[6,16,28,47,52,129,135,140],"robot":[7,50,69,169],"to":[8,11,40,154,190],"autonomously":[9],"return":[10],"its":[12],"starting":[13],"position":[14],"along":[15],"previously":[17],"traversed":[18],"path":[19],"using":[20],"visual":[21,31,229],"information.":[22,202],"In":[23],"this":[24],"paper,":[25],"we":[26,123],"propose":[27],"method":[29,227],"for":[30,97,133,228,232],"that":[33,150,188],"is":[34,91,128],"solely":[35],"based":[36],"on":[37],"bearing":[38,152,176],"angles":[39,153,177],"landmarks.":[41],"During":[42],"first":[44],"traversal":[45],"path,":[48],"creates":[51],"sequence":[53,136],"viewframes,":[55],"which":[56,73,105,127],"are":[57,106],"rotationally":[58],"aligned":[59],"landmark":[60,81,116,120,201],"angle":[61],"configurations":[62],"at":[63],"certain":[64],"locations.":[65],"While":[66],"homing,":[67],"calculates":[70],"vectors":[72],"subsequently":[74],"align":[75],"currently":[77],"perceived":[78],"set":[79],"observations":[82,187],"with":[83,235],"reference":[85],"viewframe":[86],"until":[87],"home":[89],"location":[90],"reached.":[92],"This":[93,223],"paper":[94],"discusses":[95],"methods":[96,104],"vector":[99],"calculation":[100],"and":[101,109,118,142,158,208,216,220,238],"proposes":[102],"new":[103],"more":[107],"robust":[108],"yield":[110],"straighter":[111],"paths":[113],"in":[114,139,160,214,217],"non-isotropic":[115],"distributions":[117],"false":[119],"matches.":[121],"Furthermore,":[122],"present":[124],"Trail-Map,":[126],"novel":[130],"data":[131,212],"structure":[132,213],"storing":[134],"viewframes":[138],"non-redundant":[141],"scalable":[143],"way.":[144],"The":[145],"Trail-Map":[146,181],"exploits":[147],"fact":[149],"both":[155],"distant":[156],"landmarks":[157,159,173,193],"direction":[162],"movement":[164],"hardly":[165],"change":[166,174],"when":[167],"moves,":[170],"whereas":[171],"close":[172],"their":[175],"quickly.":[178],"Thus,":[179],"enables":[182],"easy":[183],"downscaling":[184],"by":[185],"deleting":[186],"correspond":[189],"nearby,":[191],"fast-changing":[192],"and,":[194],"thus,":[195],"retains":[196],"stable,":[198],"translation":[199],"invariant":[200],"We":[203],"demonstrate":[204],"memory":[206,239],"efficiency":[207],"scalability":[209],"simulations":[215],"real-world":[218],"indoor":[219],"outdoor":[221],"experiments.":[222],"makes":[224],"proposed":[226],"suitable":[231],"mobile":[233],"robots":[234],"limited":[236],"computational":[237],"resources.":[240]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
