{"id":"https://openalex.org/W2966264086","doi":"https://doi.org/10.1609/aaai.v33i01.33018034","title":"Visual Place Recognition via Robust \u21132-Norm Distance Based Holism and Landmark Integration","display_name":"Visual Place Recognition via Robust \u21132-Norm Distance Based Holism and Landmark Integration","publication_year":2019,"publication_date":"2019-07-17","ids":{"openalex":"https://openalex.org/W2966264086","doi":"https://doi.org/10.1609/aaai.v33i01.33018034","mag":"2966264086"},"language":"en","primary_location":{"id":"doi:10.1609/aaai.v33i01.33018034","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v33i01.33018034","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/4805/4683","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://ojs.aaai.org/index.php/AAAI/article/download/4805/4683","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100399867","display_name":"Kai Liu","orcid":"https://orcid.org/0000-0002-1829-7557"},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kai Liu","raw_affiliation_strings":["Colorado School of Mines"],"affiliations":[{"raw_affiliation_string":"Colorado School of Mines","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100403944","display_name":"Hua Wang","orcid":"https://orcid.org/0000-0002-3660-4290"},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hua Wang","raw_affiliation_strings":["Colorado School of Mines"],"affiliations":[{"raw_affiliation_string":"Colorado School of Mines","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101784411","display_name":"Fei Han","orcid":"https://orcid.org/0000-0002-8619-3987"},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fei Han","raw_affiliation_strings":["Colorado School of Mines"],"affiliations":[{"raw_affiliation_string":"Colorado School of Mines","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100396911","display_name":"Hao Zhang","orcid":"https://orcid.org/0000-0002-4527-9610"},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Zhang","raw_affiliation_strings":["Colorado School of Mines"],"affiliations":[{"raw_affiliation_string":"Colorado School of Mines","institution_ids":["https://openalex.org/I167576493"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100399867"],"corresponding_institution_ids":["https://openalex.org/I167576493"],"apc_list":null,"apc_paid":null,"fwci":6.0333,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.9739913,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"33","issue":"01","first_page":"8034","last_page":"8041"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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":0.9957000017166138,"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":0.8370939493179321},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6822550296783447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6383416056632996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5693721771240234},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.5541750192642212},{"id":"https://openalex.org/keywords/holism","display_name":"Holism","score":0.49057573080062866},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49033093452453613},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.47316083312034607},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4323219954967499},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.41995713114738464},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.418426513671875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37064889073371887},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34620559215545654},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32614272832870483},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1919092833995819}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.8370939493179321},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6822550296783447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6383416056632996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5693721771240234},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.5541750192642212},{"id":"https://openalex.org/C20155586","wikidata":"https://www.wikidata.org/wiki/Q192891","display_name":"Holism","level":2,"score":0.49057573080062866},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49033093452453613},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.47316083312034607},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4323219954967499},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.41995713114738464},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.418426513671875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37064889073371887},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34620559215545654},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32614272832870483},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1919092833995819},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/aaai.v33i01.33018034","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v33i01.33018034","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/4805/4683","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/aaai.v33i01.33018034","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v33i01.33018034","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/4805/4683","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6299999952316284,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1176982339","display_name":"CAREER: Robust Brain Imaging Genomics Data Mining Framework for Improved Cognitive Health","funder_award_id":"1652943","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G1404197429","display_name":null,"funder_award_id":"W911NF-17-1-04","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G3248532193","display_name":null,"funder_award_id":"W911NF-17-1-0447","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G6922052996","display_name":null,"funder_award_id":"FA7000-18-2-0016","funder_id":"https://openalex.org/F4320337633","funder_display_name":"U.S. Air Force Academy"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G8248289552","display_name":null,"funder_award_id":"IIS 1652943","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8895310522","display_name":null,"funder_award_id":"W911NF-17-2-0181","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G8998121839","display_name":null,"funder_award_id":"911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332467","display_name":"U.S. Air Force","ror":"https://ror.org/006gmme17"},{"id":"https://openalex.org/F4320337633","display_name":"U.S. Air Force Academy","ror":"https://ror.org/0055d0g64"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2966264086.pdf","grobid_xml":"https://content.openalex.org/works/W2966264086.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W26944259","https://openalex.org/W37083855","https://openalex.org/W266885870","https://openalex.org/W1162411702","https://openalex.org/W1981962374","https://openalex.org/W2062112832","https://openalex.org/W2105709960","https://openalex.org/W2109693548","https://openalex.org/W2110405746","https://openalex.org/W2113855951","https://openalex.org/W2150252608","https://openalex.org/W2207423472","https://openalex.org/W2217442075","https://openalex.org/W2233012418","https://openalex.org/W2284029970","https://openalex.org/W2342383553","https://openalex.org/W2407716667","https://openalex.org/W2413255487","https://openalex.org/W2584853650","https://openalex.org/W2585355162","https://openalex.org/W2788518746","https://openalex.org/W2884525723","https://openalex.org/W2950156734","https://openalex.org/W3146474814","https://openalex.org/W4292363360","https://openalex.org/W6645444490","https://openalex.org/W6676460831","https://openalex.org/W6677051642","https://openalex.org/W6688237132","https://openalex.org/W6690015165","https://openalex.org/W6695582405"],"related_works":["https://openalex.org/W2354075690","https://openalex.org/W2088888418","https://openalex.org/W2605954028","https://openalex.org/W2124177038","https://openalex.org/W2154461499","https://openalex.org/W2921707373","https://openalex.org/W2121069978","https://openalex.org/W2086478527","https://openalex.org/W2121280386","https://openalex.org/W2002677423"],"abstract_inverted_index":{"Visual":[0],"place":[1,53,134,167],"recognition":[2,135,168],"is":[3,114,124],"essential":[4],"for":[5],"large-scale":[6,144],"simultaneous":[7],"localization":[8],"and":[9,22,150],"mapping":[10],"(SLAM).":[11],"Long-term":[12],"robot":[13],"operations":[14],"across":[15],"different":[16],"time":[17],"of":[18,51,62,96,99,160],"the":[19,48,60,67,94,97,127,139,148,158],"days,":[20],"months,":[21],"seasons":[23],"introduce":[24],"new":[25,64,108,162],"challenges":[26],"from":[27],"significant":[28],"environment":[29],"appearance":[30,69],"variations.":[31],"In":[32,119],"this":[33],"paper,":[34],"we":[35,76,105],"propose":[36],"a":[37,42,52,88,107],"novel":[38],"method":[39,141,163],"to":[40,72,80,87],"learn":[41],"location":[43,129],"representation":[44],"that":[45,92],"can":[46,131],"integrate":[47],"semantic":[49],"landmarks":[50],"with":[54],"its":[55],"holistic":[56],"representation.":[57],"To":[58,101],"promote":[59],"robustness":[61],"our":[63,78,103,122,161],"model":[65],"against":[66],"drastic":[68],"variations":[70],"due":[71],"long-term":[73,165],"visual":[74,166],"changes,":[75],"formulate":[77],"objective":[79],"use":[81],"non-squared":[82],"\u21132-norm":[83],"distances,":[84],"which":[85],"leads":[86],"difficult":[89],"optimization":[90],"problem":[91],"minimizes":[93],"ratio":[95],"\u21132,1-norms":[98],"matrices.":[100],"solve":[102],"objective,":[104],"derive":[106],"efficient":[109],"iterative":[110],"algorithm,":[111],"whose":[112],"convergence":[113],"rigorously":[115],"guaranteed":[116],"by":[117],"theory.":[118],"addition,":[120],"because":[121],"solution":[123],"strictly":[125],"orthogonal,":[126],"learned":[128],"representations":[130],"have":[132,156],"better":[133],"capabilities.":[136],"We":[137],"evaluate":[138],"proposed":[140],"using":[142],"two":[143],"benchmark":[145],"data":[146,152],"sets,":[147],"CMU-VL":[149],"Nordland":[151],"sets.":[153],"Experimental":[154],"results":[155],"validated":[157],"effectiveness":[159],"in":[164],"applications.":[169]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
