{"id":"https://openalex.org/W4205154000","doi":"https://doi.org/10.23919/eusipco54536.2021.9616354","title":"YOLOv5 Based Visual Localization For Autonomous Vehicles","display_name":"YOLOv5 Based Visual Localization For Autonomous Vehicles","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W4205154000","doi":"https://doi.org/10.23919/eusipco54536.2021.9616354"},"language":"en","primary_location":{"id":"doi:10.23919/eusipco54536.2021.9616354","is_oa":false,"landing_page_url":"https://doi.org/10.23919/eusipco54536.2021.9616354","pdf_url":null,"source":{"id":"https://openalex.org/S4363607854","display_name":"2021 29th European Signal Processing Conference (EUSIPCO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 29th European Signal Processing Conference (EUSIPCO)","raw_type":"proceedings-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/A5026996414","display_name":"Wided Souidene Mseddi","orcid":"https://orcid.org/0000-0002-3002-4033"},"institutions":[{"id":"https://openalex.org/I2800887215","display_name":"Tunisia Polytechnic School","ror":"https://ror.org/00dse3307","country_code":"TN","type":"education","lineage":["https://openalex.org/I2800887215"]},{"id":"https://openalex.org/I179097149","display_name":"University of Carthage","ror":"https://ror.org/057x6za15","country_code":"TN","type":"education","lineage":["https://openalex.org/I179097149"]},{"id":"https://openalex.org/I4210091279","display_name":"Universit\u00e9 Sorbonne Paris Nord","ror":"https://ror.org/0199hds37","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210091279"]}],"countries":["FR","TN"],"is_corresponding":true,"raw_author_name":"Wided Souidene Mseddi","raw_affiliation_strings":["L2TI, Institut Galilee, Universite Sorbonne Paris Nord, France","SERCOM Lab, Ecole Polytechnique de Tunisie Carthage University, Tunisia"],"affiliations":[{"raw_affiliation_string":"L2TI, Institut Galilee, Universite Sorbonne Paris Nord, France","institution_ids":["https://openalex.org/I4210091279"]},{"raw_affiliation_string":"SERCOM Lab, Ecole Polytechnique de Tunisie Carthage University, Tunisia","institution_ids":["https://openalex.org/I2800887215","https://openalex.org/I179097149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027984904","display_name":"Mohamed Ali Sedrine","orcid":"https://orcid.org/0000-0001-6172-8167"},"institutions":[{"id":"https://openalex.org/I179097149","display_name":"University of Carthage","ror":"https://ror.org/057x6za15","country_code":"TN","type":"education","lineage":["https://openalex.org/I179097149"]},{"id":"https://openalex.org/I2800887215","display_name":"Tunisia Polytechnic School","ror":"https://ror.org/00dse3307","country_code":"TN","type":"education","lineage":["https://openalex.org/I2800887215"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Mohamed Ali Sedrine","raw_affiliation_strings":["SERCOM Lab Ecole Polytechnique de Tunisie, Carthage University, Tunisia"],"affiliations":[{"raw_affiliation_string":"SERCOM Lab Ecole Polytechnique de Tunisie, Carthage University, Tunisia","institution_ids":["https://openalex.org/I2800887215","https://openalex.org/I179097149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068057340","display_name":"Rabah Attia","orcid":null},"institutions":[{"id":"https://openalex.org/I179097149","display_name":"University of Carthage","ror":"https://ror.org/057x6za15","country_code":"TN","type":"education","lineage":["https://openalex.org/I179097149"]},{"id":"https://openalex.org/I2800887215","display_name":"Tunisia Polytechnic School","ror":"https://ror.org/00dse3307","country_code":"TN","type":"education","lineage":["https://openalex.org/I2800887215"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Rabah Attia","raw_affiliation_strings":["SERCOM Lab Ecole Polytechnique de Tunisie, Carthage University, Tunisia"],"affiliations":[{"raw_affiliation_string":"SERCOM Lab Ecole Polytechnique de Tunisie, Carthage University, Tunisia","institution_ids":["https://openalex.org/I2800887215","https://openalex.org/I179097149"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026996414"],"corresponding_institution_ids":["https://openalex.org/I179097149","https://openalex.org/I2800887215","https://openalex.org/I4210091279"],"apc_list":null,"apc_paid":null,"fwci":8.3431,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.98755433,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"746","last_page":"750"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9991999864578247,"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":0.9988999962806702,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7686232924461365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7527662515640259},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7343783378601074},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6959128975868225},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6763867735862732},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6219230890274048},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5871295928955078},{"id":"https://openalex.org/keywords/robot-vision","display_name":"Robot vision","score":0.46254560351371765},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4620591402053833},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.4215918183326721},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3897257149219513},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36318713426589966},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07084843516349792}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7686232924461365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7527662515640259},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7343783378601074},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6959128975868225},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6763867735862732},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6219230890274048},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5871295928955078},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.46254560351371765},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4620591402053833},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.4215918183326721},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3897257149219513},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36318713426589966},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07084843516349792},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/eusipco54536.2021.9616354","is_oa":false,"landing_page_url":"https://doi.org/10.23919/eusipco54536.2021.9616354","pdf_url":null,"source":{"id":"https://openalex.org/S4363607854","display_name":"2021 29th European Signal Processing Conference (EUSIPCO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 29th European Signal Processing Conference (EUSIPCO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1861492603","https://openalex.org/W1921523184","https://openalex.org/W1955055330","https://openalex.org/W2015996585","https://openalex.org/W2025519812","https://openalex.org/W2027857109","https://openalex.org/W2038093187","https://openalex.org/W2097117768","https://openalex.org/W2105485788","https://openalex.org/W2112105154","https://openalex.org/W2119605622","https://openalex.org/W2127589108","https://openalex.org/W2132311402","https://openalex.org/W2163605009","https://openalex.org/W2166132830","https://openalex.org/W2194775991","https://openalex.org/W2508409579","https://openalex.org/W2523246573","https://openalex.org/W2546595953","https://openalex.org/W2565639579","https://openalex.org/W2570343428","https://openalex.org/W2785901219","https://openalex.org/W2808948067","https://openalex.org/W2896336851","https://openalex.org/W2912583782","https://openalex.org/W2963037989","https://openalex.org/W2963857746","https://openalex.org/W2991015021","https://openalex.org/W3003768717","https://openalex.org/W3016380512","https://openalex.org/W3018757597","https://openalex.org/W3034971973","https://openalex.org/W3042011474","https://openalex.org/W3093170830","https://openalex.org/W3102617634","https://openalex.org/W4293584584","https://openalex.org/W6631190155","https://openalex.org/W6676408443","https://openalex.org/W6684191040","https://openalex.org/W6750227808","https://openalex.org/W6784063636"],"related_works":["https://openalex.org/W2414561716","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2981103992","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2911519798"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,58],"use":[4],"the":[5,12,72,76],"advances":[6],"brought":[7],"by":[8],"neural":[9],"networks":[10],"for":[11,20,36],"implementation":[13],"of":[14,39],"a":[15,51,60],"vision":[16,87],"based":[17,88],"localization":[18,38,89],"framework":[19],"autonomous":[21,40],"vehicles":[22],"namely":[23],"UAVs.":[24],"We":[25],"base":[26],"our":[27],"work":[28],"on":[29],"monocular":[30],"visual":[31],"odometry.":[32],"It":[33],"is":[34,50],"used":[35],"incremental":[37],"vehicles.":[41],"This":[42,79],"method":[43],"suffers":[44],"from":[45],"drift.":[46],"Loop":[47],"closure":[48],"detection":[49],"way":[52],"to":[53,64,70],"improve":[54],"its":[55],"accuracy.":[56],"Thus,":[57],"introduce":[59],"Siamese":[61],"network":[62],"able":[63],"perform":[65],"binary":[66],"classification":[67],"in":[68],"order":[69],"detect":[71],"visited":[73],"places":[74],"and":[75,85],"loop":[77],"closures.":[78],"gives":[80],"us":[81],"an":[82],"accurate,":[83],"light":[84],"fast":[86],"framework.":[90]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
